Pipeline girth welding robot

Abstract

The invention discloses a pipeline girth welding robot, and relates to the technical field of pipeline welding, the pipeline girth welding robot comprises a crawling track, a welding gun, a driver, a wire feeding device and a bearing device, and the crawling track is used for fixedly sleeving a pipeline; the wire feeding device, the driver and the bearing device are all connected with the crawling rail and can move along the crawling rail. The welding gun is arranged on the bearing device, and the wire feeding device can convey welding wires to the welding gun. The driver is arranged between the wire feeding device and the bearing device, one end of the driver is hinged to the wire feeding device, and the other end of the driver is hinged to the bearing device, so that the wire feeding device, the driver and the bearing device can be folded and unfolded; the driver can provide power for the wire feeding device and the bearing device to move along the crawling rail. The method can be flexibly applied to different welding working conditions of an open space and a limited space.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline welding, in particular to a pipeline girth welding robot. BACKGROUND

[0002] The pipeline girth welding robot is an automatic device specially used for the welding work of pipeline girth and is widely applied to the maintenance and construction of pipelines such as petroleum, natural gas and chemical industry. As an important application of automation technology, the pipeline girth welding robot is gradually replacing the traditional manual welding method, and the use of the pipeline girth welding robot can greatly improve the welding efficiency and reduce the labor cost.

[0003] However, for the welding of pipeline girth, the existing pipeline girth robot has certain limitations for welding conditions, and the adapted working conditions are relatively single, and cannot be flexibly applied in different welding conditions. SUMMARY

[0004] The purpose of the present application is to provide a pipeline girth welding robot to solve the problems existing in the prior art and to be flexibly applied in different welding conditions of open space and limited space.

[0005] To achieve the above purpose, the present application provides the following solutions: The present application provides a pipeline girth welding robot, which comprises a crawling track, a welding gun, a driver, a wire feeding device and a bearing device, the crawling track is used for being fixedly sleeved on a pipeline, the wire feeding device, the driver and the bearing device are connected with the crawling track, the wire feeding device, the driver and the bearing device can move along the crawling track, the welding gun is arranged on the bearing device, the wire feeding device can feed welding wire to the welding gun, the driver is arranged between the wire feeding device and the bearing device, one end of the driver is hinged with the wire feeding device, the other end of the driver is hinged with the bearing device, so that the wire feeding device, the driver and the bearing device can be folded and unfolded, and the driver can provide power for the wire feeding device and the bearing device to move along the crawling track.

[0006] Preferably, at least three ejection blocks are arranged on the inner side of the crawling track, all the ejection blocks are arranged around the axis of the crawling track, the ejection blocks can move in the radial direction of the crawling track and can be locked after moving, and the ejection blocks are used for pressing the pipeline.

[0007] Preferably, three limiting connectors are further included, and the three limiting connectors correspond to the wire feeding device, the driver and the bearing device one by one; the limiting connectors are installed on the wire feeding device, the driver or the bearing device, and the wire feeding device, the driver and the bearing device are connected with the crawling track through the limiting connectors; the limiting connectors can move along the crawling track in the circumferential direction of the crawling track; in the radial direction and the axial direction of the crawling track, the limiting connectors can be clamped with the crawling track, and the limiting connectors can be detached from the crawling track.

[0008] Preferably, first and second limiting grooves are respectively arranged on the two sides of the crawling track; the limiting connectors include first and second limiting assemblies, and the first and second limiting assemblies are respectively arranged on the two sides of the crawling track; the first limiting assembly includes a fixed connecting column and a first roller, one end of the fixed connecting column is fixedly connected with the wire feeding device, the driver or the bearing device, and the first roller is arranged on the other end of the fixed connecting column; the first roller can rotate, and the first roller is arranged in the first limiting groove and in contact with the inner surface of the first limiting groove; the second limiting assembly includes a movable connecting column and a second roller, one end of the movable connecting column is connected with the wire feeding device, the driver or the bearing device, and the movable connecting column can move and lock in the axial direction of the crawling track; the second roller is arranged on the other end of the movable connecting column, and the second roller can rotate; the second roller is arranged in the second limiting groove and in contact with the inner surface of the second limiting groove.

[0009] Preferably, the second limiting assembly further includes a fixed pad, a movable rod, a wrench, a connecting pad, a first mounting column and a second mounting column; the movable connecting column is provided with a first mounting hole and a second mounting hole; the fixed pad, the first mounting column and the second mounting column are fixed on the wire feeding device, the driver or the bearing device; the first mounting column and the second mounting column are parallel to the axial direction of the crawling track; the first mounting column passes through the first mounting hole, and the second mounting column passes through the second mounting hole; one end of the connecting pad is fixedly connected with the end of the movable connecting column away from the second roller, and the other end of the connecting pad is hingedly connected with one end of the wrench; one end of the movable rod is hingedly connected with the fixed pad, and the other end of the movable rod is hingedly connected with the middle part of the wrench; the wrench can drive the movable connecting column to move and lock or unlock in the axial direction of the crawling track.

[0010] Preferably, the wire feeding device, the driver and the bearing device are connected with an external power supply and control equipment through a cable, the wire feeding device is provided with a wire feeding constraint groove, the driver is provided with a driving constraint groove, and the bearing device is provided with a bearing constraint groove, the wire feeding constraint groove, the driving constraint groove and the bearing constraint groove form a cable constraint groove, and the cable can be wound in the cable constraint groove when the wire feeding device, the driver and the bearing device rotate.

[0011] Preferably, the welding torch can move in the radial direction and / or the axial direction of the crawling track relative to the bearing device.

[0012] Preferably, the bearing device comprises an axial driving device, an adapter component and a radial driving device, the axial driving device is in driving connection with the adapter component, the axial driving device can drive the adapter component to move in the axial direction of the crawling track, the radial driving device is arranged on the adapter component, the radial driving device is in driving connection with the welding torch, and the radial driving device can drive the welding torch to move in the radial direction of the crawling track; the adapter component is fixedly provided with a first guide rail, the welding torch is fixedly provided with a second guide rail, the second guide rail is connected with the first guide rail, and the second guide rail can move along the first guide rail in the radial direction of the crawling track.

[0013] Preferably, the wire feeding device comprises a wire feeding disc and a wire feeding driving device, the wire feeding disc is wound with the welding wire, the wire feeding disc can rotate to release the welding wire, and the wire feeding driving device is in driving connection with the wire feeding disc and can provide power for the rotation of the wire feeding disc.

[0014] Preferably, an outer gear ring is fixedly arranged outside the crawling track; the driver comprises a power gear and a gear driving device, the power gear is in meshing connection with the outer gear ring, the power gear can rotate, the gear driving device is in driving connection with the power gear, and the gear driving device can provide power for the rotation of the power gear; the crawling track comprises a first half circular ring track and a second half circular ring track, and the first half circular ring track and the second half circular ring track can be combined into a circular ring-shaped crawling track.

[0015] The present application has the following technical effects relative to the prior art: The pipeline girth welding robot provided by the application adopts a modularized arrangement, a wire feeding device, a driver and a bearing device are arranged, one end of the driver is hinged to the wire feeding device, and the other end of the driver is hinged to the bearing device, so that the wire feeding device, the driver and the bearing device can be folded and unfolded, so that the pipeline girth welding robot is more flexible and has stronger folding performance, and is suitable for completing welding work in a narrow space or a working environment with limited operation space, so that the pipeline girth welding robot can be flexibly applied to different welding working conditions in an open space and a limited space. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0017] Figure 1 The installation schematic diagram of the pipeline girth welding robot provided by the application is shown in the figure. Figure 2 The overall structure schematic diagram of the pipeline girth welding robot provided by the application is shown in the figure. Figure 3 The schematic diagram of the crawling track structure is shown in the figure. Figure 4 The schematic diagram of the driver structure is shown in the figure. Figure 5 The front view schematic diagram of the driver is shown in the figure. Figure 6 The partial sectional view schematic diagram of the driver is shown in the figure. Figure 7 The other partial sectional view schematic diagram of the driver is shown in the figure. Figure 8 The schematic diagram of the wire feeding device structure is shown in the figure. Figure 9 The partial sectional view schematic diagram of the wire feeding device is shown in the figure. Figure 10 The other partial sectional view schematic diagram of the wire feeding device is shown in the figure. Figure 11 The schematic diagram of the bearing device structure is shown in the figure. Figure 12 The schematic diagram of the internal gear structure of the bearing device is shown in the figure. Figure 13 The partial sectional view schematic diagram of the bearing device is shown in the figure. Figure 14 The other partial sectional view schematic diagram of the bearing device is shown in the figure. Figure 15 The schematic diagram of the second limiting component structure is shown in the figure. In the figure: 1, crawling track; 2, driver; 3, wire feeding device; 4, bearing device; 5, second limiting assembly; 101, first half circular track; 102, second half circular track; 103, outer gear ring; 104, ejection block; 201, power gear; 202, driving gear set; 203, driving motor; 204, first driving housing; 205, first connecting hole; 206, second connecting hole; 207, first mounting slot; 208, second driving housing; 209, driving constraint slot; 301, wire feeding disc; 302, first wire feeding housing; 303, mounting hole; 304, wire feeding motor; 305, wire feeding gear set; 306, second mounting slot; 307, second wire feeding housing; 308, wire feeding constraint slot; 401, left housing; 402, welding gun front and back moving motor; 403, front and back moving gear set; 404, screw rod; 405, internally threaded cylindrical pin; 406, right housing; 407, welding gun up and down moving motor; 408, up and down moving gear set; 409, rack; 410, welding gun mounting plate; 411, first guide rail; 412, welding gun; 413, rear housing; 414, bearing constraint slot; 415, third mounting slot; 416, gear end cover; 417, front and back moving motor end cover; 501, fixed pad plate; 502, movable rod; 503, wrench; 504, connecting pad plate; 505, movable connecting column; 506, second roller; 507, first mounting hole; 508, second mounting hole; 509, first mounting column; 510, second mounting column. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0019] The present application aims to provide a pipeline girth welding robot to solve the problems in the prior art, which can be flexibly applied in different welding conditions in open space and limited space.

[0020] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0021] As Figures 1 to 15As shown, the present application provides a pipeline girth welding robot, which comprises a crawling track 1, a welding torch 412, a driver 2, a wire feeder 3 and a carrier device 4, the crawling track 1 is used for being fixedly sleeved on the pipeline; the wire feeder 3, the driver 2 and the carrier device 4 are connected with the crawling track 1, and the wire feeder 3, the driver 2 and the carrier device 4 can move along the crawling track 1; the welding torch 412 is arranged on the carrier device 4, and the wire feeder 3 can feed the welding wire to the welding torch 412; the driver 2 is arranged between the wire feeder 3 and the carrier device 4, one end of the driver 2 is hinged with the wire feeder 3, and the other end of the driver 2 is hinged with the carrier device 4, so that the wire feeder 3, the driver 2 and the carrier device 4 can be folded and unfolded; and the driver 2 can provide power for the wire feeder 3 and the carrier device 4 to move along the crawling track 1.

[0022] The pipeline girth welding robot provided by the present application adopts a modular design, and the wire feeder 3, the driver 2 and the carrier device 4 are arranged, one end of the driver 2 is hinged with the wire feeder 3, and the other end of the driver 2 is hinged with the carrier device 4, so that the wire feeder 3, the driver 2 and the carrier device 4 can be folded and unfolded, thereby making the pipeline girth welding robot more flexible and having stronger folding performance, and being suitable for completing welding work in a narrow space or a working environment with limited operation space, so that the pipeline girth welding robot can be flexibly applied to different welding working conditions in open space and limited space.

[0023] As a more preferred embodiment of the present application, at least three ejection blocks 104 are arranged on the inner side of the crawling track 1, all the ejection blocks 104 are arranged around the axis of the crawling track 1, the ejection blocks 104 can move in the radial direction of the crawling track 1 and can be locked after moving, the ejection blocks 104 are used for pressing the pipeline fixedly, the clamping radius of the crawling track 1 is adjusted through the ejection blocks 104, so that the adaptability to pipelines with different radii can be improved; the movement of the ejection blocks 104 can be realized by using a conventional motion driving mechanism such as a hydraulic cylinder, but is not limited thereto.

[0024] As a more preferred embodiment of the present application, the pipeline girth welding robot provided by the present application further comprises three limiting connectors, the three limiting connectors correspond to the wire feeder 3, the driver 2 and the carrier device 4 one by one respectively; the limiting connectors are mounted on the wire feeder 3, the driver 2 or the carrier device 4, and the wire feeder 3, the driver 2 and the carrier device 4 are connected with the crawling track 1 through the limiting connectors; the limiting connectors can move along the crawling track 1 in the circumferential direction of the crawling track 1; in the radial direction and the axial direction of the crawling track 1, the limiting connectors can be clamped with the crawling track 1, so that the stability of the robot operation can be improved, and the welding quality can be improved, and the limiting connectors can be detached from the crawling track 1, so that the assembly and carrying are facilitated.

[0025] As a more preferred embodiment of the present application, the first limiting groove and the second limiting groove are respectively arranged on the two sides of the crawling track 1; the limiting connector comprises a first limiting assembly and a second limiting assembly 5, the first limiting assembly and the second limiting assembly 5 are respectively arranged on the two sides of the crawling track 1, the first limiting assembly comprises a fixed connecting column and a first roller, one end of the fixed connecting column is fixedly connected with the wire feeding device 3, the driver 2 or the bearing device 4, the first roller is arranged on the other end of the fixed connecting column, the first roller can rotate, and the first roller is arranged in the first limiting groove and in contact with the inner surface of the first limiting groove; the second limiting assembly 5 comprises a movable connecting column 505 and a second roller 506, one end of the movable connecting column 505 is connected with the wire feeding device 3, the driver 2 or the bearing device 4, the movable connecting column 505 can move and lock in the axial direction of the crawling track 1, the second roller 506 is arranged on the other end of the movable connecting column 505, the second roller 506 can rotate, and the second roller 506 is arranged in the second limiting groove and in contact with the inner surface of the second limiting groove, which is convenient to use.

[0026] As a more preferred embodiment of the present application, the second limiting assembly 5 further comprises a fixed pad plate 501, a movable rod 502, a wrench 503, a connecting pad plate 504, a first mounting column 509 and a second mounting column 510, the movable connecting column 505 is provided with a first mounting hole 507 and a second mounting hole 508, the fixed pad plate 501, the first mounting column 509 and the second mounting column 510 are fixed on the wire feeding device 3, the driver 2 or the bearing device 4, the first mounting column 509 and the second mounting column 510 are parallel to the axial direction of the crawling track 1, the first mounting column 509 passes through the first mounting hole 507, the second mounting column 510 passes through the second mounting hole 508, so as to guide the movement of the movable connecting column 505 in the axial direction of the crawling track 1 and improve the stability of the movement of the movable connecting column 505, one end of the connecting pad plate 504 is fixedly connected with the end of the movable connecting column 505 away from the second roller 506, the other end of the connecting pad plate 504 is hingedly connected with one end of the wrench 503, one end of the movable rod 502 is hingedly connected with the fixed pad plate 501, and the other end of the movable rod 502 is hingedly connected with the middle part of the wrench 503; the wrench 503 can drive the movable connecting column 505 to move and lock or unlock in the axial direction of the crawling track 1, which is convenient to use.

[0027] As a more preferred embodiment of the present application, the wire feeding device 3, the driver 2 and the bearing device 4 are connected with an external power supply and control equipment through a cable, the wire feeding device 3 is provided with a wire feeding constraint groove 308, the driver 2 is provided with a driving constraint groove 209, and the bearing device 4 is provided with a bearing constraint groove 414, the wire feeding constraint groove 308, the driving constraint groove 209 and the bearing constraint groove 414 form a cable constraint groove, and the cable can be wound in the cable constraint groove when the wire feeding device 3, the driver 2 and the bearing device 4 rotate, so as to avoid the cable from randomly drooping or winding to cause adverse interference to the welding work.

[0028] As a more preferred embodiment of the present application, the welding torch 412 can move in the radial direction and / or the axial direction of the crawling track 1 relative to the bearing device 4, so as to realize the position adjustment of the welding torch 412 in the radial direction and / or the axial direction of the crawling track 1, thereby improving the adaptability of the pipeline girth welding robot in the installation process, facilitating the adjustment of the posture of the welding torch 412 according to the position of the pipeline girth in the welding process, improving the flexibility of the welding torch 412, and thereby improving the welding quality.

[0029] As a more preferred embodiment of the present application, the bearing device 4 comprises an axial driving device, an adapter component and a radial driving device, the axial driving device is in transmission connection with the adapter component, the axial driving device can drive the adapter component to move in the axial direction of the crawling track 1, the radial driving device is arranged on the adapter component, the radial driving device is in transmission connection with the welding torch 412, and the radial driving device can drive the welding torch 412 to move in the radial direction of the crawling track 1, which is clear in action and convenient to use; the first guide rail 411 is fixedly arranged on the adapter component, the second guide rail is fixedly arranged on the welding torch 412, the second guide rail is connected with the first guide rail 411, and the second guide rail can move in the radial direction of the crawling track 1 along the first guide rail 411, thereby improving the stability of the welding torch 412 in the position adjustment process.

[0030] As a more preferred embodiment of the present application, the wire feeding device 3 comprises a wire feeding disc 301 and a wire feeding driving device, the wire feeding disc 301 is wound with welding wire, and the wire feeding disc 301 can rotate to release the welding wire; the wire feeding driving device is in transmission connection with the wire feeding disc 301, and the wire feeding driving device can provide power for the rotation of the wire feeding disc 301, which is convenient to use.

[0031] As a more preferred embodiment of the present application, the outer side of the crawling track 1 is fixedly sleeved with an outer gear ring 103; the driver 2 comprises a power gear 201 and a gear driving device, the power gear 201 is engaged with the outer gear ring 103, the power gear 201 is capable of rotating, the gear driving device is in transmission connection with the power gear 201, the gear driving device is capable of providing power for the rotation of the power gear 201, the power gear 201 and the outer gear ring 103 are in high transmission efficiency, stable transmission and high reliability in engagement, can guarantee the constant instantaneous transmission ratio, improve the accuracy and stability of the movement on the pipeline, and thus improve the welding quality in the marching process; the crawling track 1 comprises a first half circular ring track 101 and a second half circular ring track 102, the first half circular ring track 101 and the second half circular ring track 102 can be spliced into a circular ring crawling track 1, which is convenient for installation and disassembly.

[0032] In the embodiment, the power gear 201 is connected with the driving motor 203 through the driving gear set 202, the driving motor 203 is installed in the motor cavity of the first driving shell 204, the first driving shell 204 is provided with the first connecting hole 205 and the second connecting hole 206 on both sides, the first driving shell 204 is provided with the first installation through slot 207 from the middle abdomen to the tail, the first driving shell 204 is fixedly connected with the second driving shell 208, the second driving shell 208 is provided with the driving constraint slot 209 on the other side, the movement of the driving gear set 202 is driven by the driving motor 203, the rotation movement of the power gear 201 is driven by the driving gear set 202, the first driving shell 204 is provided with the first connecting hole 205 and the second connecting hole 206 on both sides, which are respectively used for connecting the wire feeding device 3 and the bearing device 4, and the second limiting assembly 5 is installed in the first installation through slot 207; the wire feeding disc 301 is fixedly installed on the side of the first wire feeding shell 302, the first wire feeding shell 302 is provided with the installation hole 303 on the side, the installation hole 303 is coaxially connected with the first connecting hole 205 of the driving shell, the first wire feeding shell 302 is built-in with the wire feeding motor 304, the wire feeding motor 304 drives the wire feeding gear set 305 to rotate, the first wire feeding shell 302 is provided with the second installation through slot 306 from the middle abdomen to the tail, the first wire feeding shell 302 is fixedly connected with the second wire feeding shell 307, the second wire feeding shell 307 is provided with the wire feeding constraint slot 308 on the other side, the movement of the wire feeding gear set 305 is driven by the wire feeding motor 304, the wire feeding gear set 305 is drivingly connected with the wire feeding disc 301, the welding wire of the wire feeding disc 301 is transmitted forward through the meshing movement of the wire feeding gear set 305, the welding work is completed, and the second limiting assembly 5 is installed in the second installation through slot 306.The bearing device 4 comprises a left shell 401, a welding gun front-back moving motor 402 built-in the left shell 401, a front-back moving gear set 403 connected with the welding gun front-back moving motor, a screw rod 404 connected with the front-back moving gear set 403, an internally threaded cylindrical pin 405 screwed with the screw rod 404, the internally threaded cylindrical pin 405 fixedly connected with a right shell 406, a welding gun up-down moving motor 407 built-in the right shell 406, an up-down moving gear set 408 connected with the welding gun up-down moving motor 407, a rack 409 engaged with the up-down moving gear set 408, a welding gun mounting plate 410 fixed on the right shell 406, a first guide rail 411 mounted on the front end of the welding gun mounting plate 410, the rack 409 fixedly connected with a welding gun 412, a rear shell 413 connected with the left shell 401, a bearing constraint groove 414 connected with the rear shell 413 on the other side, the rear shell 413 provided with a third mounting through groove 415, a front gear end cover 416 provided on the left shell 401, a rear front-back moving motor end cover 417 provided on the left shell 401, the front gear end cover 416 and the rear front-back moving motor end cover 417 connected with the second connecting hole 206, the left shell 401 internally provided with the welding gun front-back moving motor 402, the welding gun front-back moving motor 402 driving the front-back moving gear set 403 to move, thereby driving the screw rod 404 to rotate, the screw rod 404 rotating thereby driving the right shell 406 to move forward and backward, the right shell 406 internally provided with the welding gun up-down moving motor 407, the welding gun up-down moving motor 407 driving the up-down moving gear set 408 and the rack 409 to move, thereby controlling the welding gun 412 to move up and down, the second limiting assembly 5 mounted in the third mounting through groove 415.

[0033] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the field, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A pipe circumferential welder robot, characterized in that: The device includes a crawling track, a welding torch, a driver, a wire feeding device, and a support device. The crawling track is used to be fixedly sleeved on a pipe. The wire feeding device, the driver, and the support device are all connected to the crawling track, and the wire feeding device, the driver, and the support device can all move along the crawling track. The welding torch is mounted on the support device, and the wire feeding device can feed welding wire to the welding torch. The driver is positioned between the wire feeding device and the carrier device. One end of the driver is hinged to the wire feeding device, and the other end of the driver is hinged to the carrier device, so that the wire feeding device, the driver, and the carrier device can be folded and unfolded. The driver provides power for the wire feeding device and the carrying device to move along the crawling track.

2. The pipe circumferential welder robot according to claim 1, characterized in that: The inner side of the crawling track is provided with at least three ejector blocks, all of which are arranged around the axis of the crawling track. The ejector blocks are movable in the radial direction of the crawling track and can be locked after movement. The ejector blocks are used to press and fix them to the pipe.

3. The pipe circumferential welder robot according to claim 1, characterized in that: It also includes three limiting connectors, each corresponding to one of the wire feeding device, the driver, and the carrier device. The limiting connectors are installed on the wire feeding device, the driver, or the carrier device, and the wire feeding device, the driver, and the carrier device are all connected to the crawling track through the limiting connectors. The limiting connectors can move along the crawling track in the circumferential direction of the crawling track. The limiting connectors can engage with the crawling track in the radial and axial directions of the crawling track, and the limiting connectors can be detached from the crawling track.

4. The pipe circumferential welder robot according to claim 3, characterized in that: The crawling track has a first limiting groove and a second limiting groove on each side. The limiting connector includes a first limiting component and a second limiting component, which are respectively placed on both sides of the crawling track. The first limiting component includes a fixed connecting post and a first roller. One end of the fixed connecting post is fixedly connected to the wire feeding device, the driver, or the carrying device. The first roller is located on the other end of the fixed connecting post and is rotatable. The first roller is placed in the first limiting groove and contacts the inner surface of the first limiting groove. The second limiting component includes a movable connecting post and a second roller. One end of the movable connecting post is connected to the wire feeding device, the driver, or the carrying device. The movable connecting post can move and lock in the axial direction of the crawling track. The second roller is located on the other end of the movable connecting post and is rotatable. The second roller is placed in the second limiting groove and contacts the inner surface of the second limiting groove.

5. The pipe circumferential welder robot according to claim 4, characterized in that: The second limiting component further includes a fixed pad, a movable rod, a wrench, a connecting pad, a first mounting post, and a second mounting post. The movable connecting post has a first mounting hole and a second mounting hole. The fixed pad, the first mounting post, and the second mounting post are all fixed to the wire feeding device, the driver, or the bearing device. The first mounting post and the second mounting post are both parallel to the axial direction of the crawling track. The first mounting post passes through the first mounting hole, and the second mounting post passes through the second mounting hole. One end of the connecting pad is fixedly connected to the end of the movable connecting post away from the second roller. The other end of the connecting pad is hinged to one end of the wrench. One end of the movable rod is hinged to the fixed pad, and the other end of the movable rod is hinged to the middle of the wrench. Turning the wrench can move the movable connecting post axially along the crawling track and lock or unlock it.

6. The pipe circumferential welder robot according to claim 1, characterized in that: The wire feeding device, the driver, and the carrier device are connected to an external power supply and control equipment via cables. The wire feeding device has a wire feeding constraint groove, the driver has a driving constraint groove, and the carrier device has a carrier constraint groove. The wire feeding constraint groove, the driving constraint groove, and the carrier constraint groove together form a cable constraint groove. The cable can be wound in the cable constraint groove when the wire feeding device, the driver, and the carrier device rotate.

7. The pipe circumferential welder robot according to claim 1, characterized in that: The welding torch is movable radially and / or axially relative to the support device on the crawling track.

8. The pipe circumferential welder robot according to claim 7, characterized in that: The supporting device includes an axial drive device, a connecting component, and a radial drive device. The axial drive device is convectively connected to the connecting component and can drive the connecting component to move axially on the crawling track. The radial drive device is mounted on the connecting component and is convectively connected to the welding torch, and can drive the welding torch to move radially on the crawling track. A first guide rail is fixedly provided on the connecting component, and a second guide rail is fixedly provided on the welding torch. The second guide rail is connected to the first guide rail and can move radially along the first guide rail on the crawling track.

9. The pipe circumferential weld robot according to claim 1, characterized in that: The wire feeding device includes a wire feeding reel and a wire feeding drive device. The wire feeding reel is wound with the welding wire and can rotate to release the welding wire. The wire feeding drive device is connected to the wire feeding reel and can provide power for the rotation of the wire feeding reel.

10. The pipe circumferential weld robot according to claim 1, characterized in that: An external gear ring is fixedly sleeved on the outer side of the crawling track; the driver includes a power gear and a gear drive device, the power gear meshes with the external gear ring, the power gear can rotate, the gear drive device is connected to the power gear in a transmission manner, and the gear drive device can provide power for the rotation of the power gear; the crawling track includes a first semi-circular track and a second semi-circular track, the first semi-circular track and the second semi-circular track can be assembled into a circular crawling track.

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